Measuring System

ABSTRACT

The invention provides a measuring system comprising a remotely controllable flying vehicle system with a GPS device and a measuring device installed thereon, a position measuring device installed at an arbitrary position and able to measure distance and angle and to track, a ground base station for controlling a flight of a flying vehicle, a remote controller able to give and take data to and from the ground base station and able to perform wireless communication to and from the flying vehicle system, and a control unit provided on the flying vehicle system or the ground base station, wherein the flying vehicle system has a retro-reflector as an object to be measured and the position measuring device is constructed so as to track the retro-reflector and perform distance measurement and angle measurement, wherein the flying vehicle system obtains GPS coordinates by the GPS device at least at two points during flight, the position measuring device measures positions of the two points of the flying vehicle system from an installation point, wherein the position measuring device measures positions of the flying vehicle system at the two points from the installation points, and either one of the control units are configured so as to obtain an absolute coordinate or GPS coordinate of the installation point of the position measuring device based on the GPS coordinates of the two points and based on distance measurement results and on angle measurement results by the position measuring device.

This application is a divisional of U.S. patent application Ser. No.14/590,320 filed Jan. 6, 2015, the disclosure of which is incorporatedherein by reference.

BACKGROUND OF THE INVENTION

The present invention relates to a measuring system, which performsmeasurement on a structure or the like using an unmanned aerial vehicle(UAV).

In recent years, with the progress of UAV (Unmanned Aerial Vehicle),various types of apparatuses are installed on the UAV and operations asrequired are carried out by remotely controlling the UAV or byautomatically flying the UAV. For instance, a camera for photogrammetryand a scanner are installed on the UAV, and measurement from up in thesky toward a position at lower level is performed or measurement isperformed at a place where no operator can enter. Further, for thepositional measurement of the UAV itself, a GPS device is installed onthe UAV, and a position of the UAV is measured by using the GPS device.

However, at a side of a dam or a building or at a place under a bridge,radio waves from artificial satellites cannot be received and positionalmeasurement of the UAV cannot be performed. For this reason, there havebeen problems in that remote control of the UAV could not be carried outor measurement by the UAV could not be performed.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a measuring system,which enables a remote control and an automatic flight of a UAV evenunder an environment where radio waves from artificial satellites cannotbe received and which enables a measurement on structures such asbuilding, dam, etc. even at a place or in an environment wheremeasurement cannot be performed by a UAV where camera forphotogrammetry, scanner and spectral camera are installed.

To attain the object as described above, a measuring system according tothe present invention comprises a remotely controllable flying vehiclesystem with a GPS device and a measuring device installed thereon, aposition measuring device installed at an arbitrary position and able tomeasure distance and angle and to track, a ground base station forcontrolling a flight of a flying vehicle, a remote controller able togive and take data to and from the ground base station and able toperform wireless communication to and from the flying vehicle system,and a control unit provided on the flying vehicle system or the groundbase station, wherein the flying vehicle system has a retro-reflector asan object to be measured and the position measuring device isconstructed so as to track the retro-reflector and perform distancemeasurement and angle measurement, wherein the flying vehicle systemobtains GPS coordinates by the GPS device at least at two points duringflight, the position measuring device measures positions of the twopoints of the flying vehicle system from an installation point, whereinthe position measuring device measures positions of the flying vehiclesystem at the two points from the installation points, and either one ofthe control units are configured so as to obtain an absolute coordinateor GPS coordinate of the installation point of the position measuringdevice based on the GPS coordinates of the two points and based ondistance measurement results and on angle measurement results by theposition measuring device.

Further, in the measuring system according to the present invention, thecontrol unit controls the flight of the flying vehicle system based onthe absolute coordinates or on the GPS coordinates.

Further, in the measuring system according to the present invention, themeasuring device is a shape measuring device for measuring a shape of anobject to be measured, and the control unit obtains coordinates of theshape of the object to be measured based on a shape of an object to bemeasured obtained by the shape measuring device at a measuring positionand based on absolute coordinates of the measuring position obtained byconverting measurement results of the position measuring device or onGPS coordinates obtained by the GPS device.

Further, in the measuring system according to the present invention, themeasuring device is a camera, and the control unit performsphotogrammetry on an object to be measured based on an image of theobject to be measured acquired by the camera at least at two pointsduring flight, and based on absolute coordinates or GPS coordinates ofthe two points obtained by converting measurement results of theposition measuring device or based on absolute coordinates or GPScoordinates of the two points obtained by the GPS device.

Further, in the measuring system according to the present invention, theposition measuring device is installed at two or more arbitrary points,the control unit obtains absolute coordinates or GPS coordinates of eachof the installation points of the position measuring device, performsmeasurement by the position measuring device from each of theinstallation points, converts the obtained measurement results toabsolute coordinates or GPS coordinates respectively and integrates themeasurement results obtained by the measurement from each of theinstallation points.

Furthermore, in the measuring system according to the present invention,the measuring device of the flying vehicle system determines a deadangle range of the position measuring device, the position measuringdevice measures a range where it is impossible to fly of the flyingvehicle system or a range where it is impossible to perform positionalmeasurement by the GPS device, the control unit converts the measurementresults of the position measuring device to GPS coordinates or absolutecoordinates and integrates the results measured by the measuring deviceof the flying vehicle system and the result of measurement by theposition measuring device.

According to the present invention, the measuring system comprises aremotely controllable flying vehicle system with a GPS device and ameasuring device installed thereon, a position measuring deviceinstalled at an arbitrary position and able to measure distance andangle and to track, a ground base station for controlling a flight of aflying vehicle, a remote controller able to give and take data to andfrom the ground base station and able to perform wireless communicationto and from the flying vehicle system, and a control unit provided onthe flying vehicle system or the ground base station, wherein the flyingvehicle system has a retro-reflector as an object to be measured and theposition measuring device is constructed so as to track theretro-reflector and perform distance measurement and angle measurement,wherein the flying vehicle system obtains GPS coordinates by the GPSdevice at least at two points during flight, the position measuringdevice measures positions of the two points of the flying vehicle systemfrom an installation point, wherein the position measuring devicemeasures positions of the flying vehicle system at the two points fromthe installation points, and either one of the control units areconfigured so as to obtain an absolute coordinate or GPS coordinate ofthe installation point of the position measuring device based on the GPScoordinates of the two points and based on distance measurement resultsand on angle measurement results by the position measuring device. As aresult, it becomes possible to easily perform measurement at a placewhere absolute coordinates or GPS coordinates of the installationposition of the position measuring device are not able to be obtained orare difficult to be obtained.

Further, according to the present invention, in the measuring system,the control unit controls the flight of the flying vehicle system basedon the absolute coordinates or on the GPS coordinates. As a result, in acase where it is not possible to perform positional measurement by theGPS device, a remote control of the flying vehicle system is possible tobe performed based on the measurement result of the position measuringdevice, and in a case where it is not possible to perform positionalmeasurement by the position measuring device, a remote control of theflying vehicle system is possible to be performed based on the resultsof positional measurement of the GPS device, and there is no restrictioncaused by a measuring environment.

Further, according to the present invention, in the measuring system,the measuring device is a shape measuring device for measuring a shapeof an object to be measured, and the control unit obtains coordinates ofthe shape of the object to be measured based on a shape of an object tobe measured obtained by the shape measuring device at a measuringposition and based on absolute coordinates of the measuring positionobtained by converting measurement results of the position measuringdevice or on GPS coordinates obtained by the GPS device. As a result, itis possible to determine the shape of the object to be measured, whichis in complicated shape or is in large size.

Further, according to the present invention, in the measuring system,the measuring device is a camera, and the control unit performsphotogrammetry on an object to be measured based on an image of theobject to be measured acquired by the camera at least at two pointsduring flight, and based on absolute coordinates or GPS coordinates ofthe two points obtained by converting measurement results of theposition measuring device or based on absolute coordinates or GPScoordinates of the two points obtained by the GPS device. As a result,even at a place where the GPS device is not capable of performingpositional measurement, it is possible to carry out photogrammetry byusing the flying vehicle system.

Furthermore, according to the present invention, in the measuringsystem, the position measuring device is installed at two or morearbitrary points, the control unit obtains absolute coordinates or GPScoordinates of each of the installation points of the position measuringdevice, performs measurement by the position measuring device from eachof the installation points, converts the obtained measurement results toabsolute coordinates or GPS coordinates respectively and integrates themeasurement results obtained by the measurement from each of theinstallation points. As a result, it becomes possible to easily performmeasurements at a land with complicated shape or to perform measurementson the object to be measured with complicated shape.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagrammatic sketch to show an arrangement of a measuringsystem according to the present embodiment.

FIG. 2A is a perspective view of a flying vehicle system according tothe present embodiment and FIG. 2B is a perspective view to show oneexample of a direction angle sensor.

FIG. 3 is a cross-sectional view of the flying vehicle system.

FIG. 4 is a block diagram to show an arrangement of a control system ofthe flying vehicle system.

FIG. 5 is a schematical block diagram to show one example of a positionmeasuring device according to the present embodiment.

FIG. 6 is a block diagram to show an approximate arrangement of a groundbase station and a relation between the flying vehicle system, theposition measuring device, the ground base station and a remotecontroller.

FIG. 7 is a flowchart to show the measurement of installation positionby the position measuring device in the present embodiment.

FIG. 8 is a flowchart to show guidance of the flying vehicle system inthe present embodiment.

FIG. 9 is an explanatory diagram to show guidance of the flying vehiclesystem and the measurement by the flying vehicle system and the positionmeasuring device in the present embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Description will be given below on an embodiment of the presentinvention by referring to the attached drawings.

First, referring to FIG. 1, a description will be given on a measuringsystem according to the present embodiment.

A measuring system 1 primarily comprises one each of a flying vehiclesystem (UAV) 2, a position measuring device 3, a ground base station 4and a remote controller 5. FIG. 1 shows a case where a total station(TS) is used as the position measuring device 3.

The flying vehicle system 2 primarily comprises a flying vehicle 15 (tobe described later), a shaft 6 as a supporting member verticallysupported on the flying vehicle 15 via a gimbal mechanism, a camera 7disposed at a lower end of the shaft 6 and used as a photographingdevice, a GPS device 8 disposed at an upper end of the shaft 6, a prism9 as a retro-reflector and disposed at a lower end of the shaft 6, adirection angle sensor 10 integrally mounted with the prism 9 anddisposed in a known relation with an optical axis of the camera 7, and aflying vehicle communication unit 11 to communicate to and from theground base station 4.

Here, a reference position is set for the flying vehicle system 2 andthe relation between the reference position and each of the camera 7,the GPS device 8 and the prism 9 is already known. It is to be notedthat as the reference position of the flying vehicle system 2, forinstance, a central position or the like of an image element (not shown)of the camera 7 is used.

It is so arranged that the camera 7 is rotatably supported around thecenter via a horizontal shaft so that optical axis of the camera 7 isrotatable within a plane, which is parallel to a center line of theshaft 6. Further, a rotation range of the camera 7 include at least arange from vertical position to horizontal position with respect to theoptical axis of the camera 7.

Since the shaft 6 is supported by the gimbal mechanism so that thecenter line of the shaft 6 is in vertical direction, in a case where theoptical axis of the camera 7 is in vertical direction, the optical axisof the camera 7 coincides with the center line of the shaft 6.

An optical axis of the prism 9 is also arranged so as to run in parallelwith the center line of the shaft 6, and the optical axis of the prism 9is set so as to run in vertical direction. Further, the positionalrelation between the prism 9 and the camera 7 is also already known. Itis to be noted that it would suffice if the camera 7 and the opticalaxis of the camera 7 and of the prism 9 run in vertical direction, andthe center line of the shaft 6 may not necessarily run in verticaldirection.

The prism 9 is installed so that the prism 9 faces in downward directionand has an optical characteristic to retro-reflect light entering fromthe entire ranges below the prism 9. Further, instead of the prism 9, areflection seal may be provided at a predetermined position of the shaft6.

A position to be measured by the GPS device 8 is located on the centerline of the shaft 6, and the position to be measured by the GPS device 8is already known with respect to the camera 7.

The direction angle sensor 10 detects a direction of the flying vehiclesystem 2. As the direction angle sensor 10, the following is known, forinstance.

On a circumference and at positions equally divided as required on thecircumference, photodetection sensors 30 are provided. Each of thephotodetection sensors 30 is capable of receiving a distance measuringlight or a tracking light emitted from the position measuring device 3.By judging as to which of the photodetection sensors 30 has received anddetected the distance measuring light or the tracking light, a directionwith respect to the distance measuring light or the tracking light (i.e.a direction with respect to the position measuring device 3) can bedetected.

The position measuring device 3 is installed at an arbitrary position,and leveling is performed so that the position measuring device 3 is tobe in horizontal position. The position measuring device 3 is capable ofdistance measurement by non-prism measurement (i.e. measurement usingneither prism nor retro-reflector) and by prism measurement (i.e.measurement using prism or retro-reflector as a target of measurement),and also capable of measuring horizontal angle and vertical angle.

Non-prism measurement is capable of performing non-prism measurement ona pre-scheduled range with reference to the installation position of theposition measuring device 3.

Further, the position measuring device 3 has tracking function. Underthe condition where prism measurement is being performed, the positionmeasuring device 3 measures three-dimensional coordinates (slopedistance, horizontal angle and vertical angle), with reference to theinstallation position of the position measuring device 3 of the prism 9while tracking the prism 9 during the flight of the flying vehiclesystem 2. It is to be noted that a total station (TS) is used as theposition measuring device 3, but it is not limited to the TS as long asthe position measuring device 3 has a tracking function and is capableof measuring slope distance, horizontal angle and vertical angle.

The position measuring device 3 is electrically connected to the groundbase station 4 via wired or wireless means, and three-dimensionalcoordinates thus measured are inputted to the ground base station 4 ascoordinate data.

The installation position (absolute coordinates) of the positionmeasuring device 3 can be measured by a method as given below.

A position of the flying vehicle system 2 during the flight is measuredby the position measuring device 3, and further, positional coordinatesat two points of the flying vehicle system 2 are measured by the GPSdevice 8. Based on the measurement results acquired by the positionmeasuring device 3 and on positional coordinates (GPS coordinates)acquired by the GPS device 8, an installation position (GPS coordinates)of the position measuring device 3 is measured by a method of resection.Further, absolute coordinates can be obtained by coordinate conversionof the GPS coordinates. Therefore, if the GPS coordinates are obtained,it becomes possible to obtain absolute coordinates of the positionmeasuring device 3, it becomes possible to convert three-dimensionalcoordinates measured by the position measuring device 3 to absolutecoordinates, and it becomes possible to convert the results of thenon-prism measurement to absolute coordinates with reference to theinstallation position of the position measuring device 3.

Furthermore, the prism 9 (i.e. the flying vehicle system 2) is trackedand measured by the position measuring device 3, three-dimensionalcoordinates of the prism 9 thus obtained (i.e. three-dimensionalcoordinates of the flying vehicle system 2) (TS coordinates) can also beconverted to GPS coordinates, and further, to absolute coordinates, in asimilar manner. Therefore, by transmitting the positional coordinates ofthe flying vehicle system 2 as measured by the position measuring device2 in real time from the ground base station 4 to the flying vehiclesystem 2, it is possible to make the flying vehicle system 2 fly basedon the positional coordinates measured by the position measuring device3. It is to be noted that in the description as given below, themeasurement results of the position measuring device 3 as converted toGPS coordinates are also called as GPS coordinates.

The ground base station 4 is a PC, for instance, and has an arithmeticoperation device having a calculating function, a storage unit forstoring data and program, and further, a base communication unit. Thebase communication unit is capable of communicating to and from theposition measuring device 3 and the remote controller 5, and the remotecontroller 5 is capable of performing wireless communication to and fromthe flying vehicle communication unit 11. Further, based on the resultsof non-prism measurement, the ground base station 4 sets up a flightsafety range and transmits control data relating to the flying range tothe remote controller 5 so that the flying vehicle system 2 is adaptedto be remotely controlled within the flight safety range.

The remote controller 5 is for remotely controlling the flight of theflying vehicle system 2. In a case where a flight range restricting datarelating to the flight range are transmitted from the ground basestation 4, a flight control signal transmitted from the remotecontroller 5 is subject to restriction of the flight range restrictingdata, and the flying vehicle system 2 is controlled so as to fly withinthe flight safety range. Further, the camera 7 and a shutter of thecamera 7 are designed as remotely controllable.

The flying vehicle system 2 has a control unit as described below, so bysetting the flight plan data to the control unit, the flying vehiclesystem 2 is capable of autonomous flight based on positional data fromthe position measuring device 3 and on positional data as measured bythe GPS device 8.

Next, referring to FIG. 2A, FIG. 2B, and FIG. 3, description will begiven on the flying vehicle system 2.

The flying vehicle 15 has a plurality of and even numbers of propellerframes 17 extending in radial direction, and a propeller unit is mountedon a forward end of each of the propeller frames 17. The propeller unitcomprises a propeller motor 18 disposed at a forward end of thepropeller frame 17, and propellers 19 (19 a to 19 h in the figure) aremounted on an output shaft of the propeller motor 18. The propellers 19are rotated by the propeller motor 18 and the flying vehicle 15 iscapable of flying.

The flying vehicle 15 has a main frame 21 in hollow and cylindricalshape at its center. An outer flange 22 extending in an outwarddirection is provided on an upper end of the main frame 21, and an innerflange 23 extending toward the center is provided on a lower end of themain frame 21. At the central portion of the inner flange 23, a circularhole 24 is formed.

The propeller frame 17 is designed in form of a rod. The propeller frameis disposed within a plane, which perpendicularly cross the center lineof the main frame 21, and a predetermined number of propeller frames (atleast 4 propeller frames, or preferably 8 propeller frames; in thefigure, 8 propeller frames (17 a to 17 h) are shown) are provided in ahorizontal direction with an equal angular interval. Internal endportion of the propeller frame 17 penetrates the main frame 21 and isfixed on the outer flange 22.

The shaft 6 is provided so as to penetrate the main frame 21 inup-and-down direction, the shaft 6 is supported by a gimbal 25 so as torun in vertical direction, and the gimbal 25 is mounted on the innerflange 23 via a vibration-proof member 26.

The gimbal 25 has swing shafts 27 a and 27 b, which perpendicularlycross in two directions, and the gimbal 25 movably supports the shaft 6in two directions perpendicularly crossing each other. Thevibration-proof member 26 absorbs a vibration caused by rotation of thepropeller motor 18 and the propeller 19, and the vibration-proof member26 is designed so that the vibration is not transferred to the shaft 6.

A tilt sensor 28 is provided on a lower end of the shaft 6, and detectstilting of the shaft 6 caused by the change of the flying condition ofthe flying vehicle 15. Further, the tilt sensor 28 detects an anglebetween the vertical line and the center line of the shaft 6 when theshaft 6 is tilted with respect to the vertical line, and a detectionresult of the tilt sensor 28 is transmitted to the control unit 35 (seeFIG. 4) which is to be described later.

The direction angle sensor 10 is provided at a position as required onthe main frame 21. The direction angle sensor 10 detects a direction ofthe flying vehicle 15. The direction of the flying vehicle 15 is, forinstance, the direction of the flying vehicle with reference to adirection facing a position where the position measuring device 3 isinstalled. Further, in the present embodiment, a direction angle sensoras shown in FIG. 2B is used as the direction angle sensor 10. It is tobe noted that a magnetic compass may be used as the direction anglesensor 10.

The present embodiment shows a case where the direction angle sensor 10is provided integrally with the prism 9. Describing briefly by referringto FIG. 2B, photodetection sensors 30 a, 30 b, 30 c and 30 d areprovided along an outer peripheral surface of a sensor case 29 formedinto a cylindrical shape. The photodetection sensors 30 a, 30 b, 30 cand 30 d are disposed at positions as determined by dividing thecircumference in four equal parts, and are arranged so thatphotodetection signals are emitted when each of the photodetectionsensors 30 a, 30 b, 30 c and 30 d receive a distance measuring light ora tracking light emitted from the position measuring device 3. Further,by judging as to at which position the photodetection sensors 30 a, 30b, 30 c and 30 d have received the distance measuring light or thetracking light, the direction of the flying vehicle system 2 withrespect to the position measuring device 3 is detected.

A control box 31 is provided on a lower end of the shaft 6. Inside thecontrol box 31, the control unit 35 is accommodated. A camera holder 32is disposed on the lower surface of the control box 31, and the camera 7is provided on the camera holder 32 via a horizontal axis 33. The camera7 is rotatable around the horizontal shaft 33 as the center and an imagepickup direction changing motor (not shown) for rotating the camera 7 isinstalled via the horizontal shaft 33. A reference posture of the camera7 is maintained with an optical axis in vertical direction, and theimage pickup direction changing motor rotates the camera 7 at an angleas required with respect to the vertical direction according to aninstruction from the control unit 35. In FIG. 2A, the optical axis ofthe camera 7 is in horizontal direction to facilitate the explanation.

On the lower surface of the camera holder 32, the direction angle sensor10 is provided via a supporting member 34. Further, on the lower surfaceof the direction angle sensor 10, the prism 9 is provided integrallywith the direction angle sensor 10.

On the upper end of the shaft 6, the GPS device 8 is disposed. Thecenter of the GPS device 8 (reference position of the GPS device 8)coincides with the center line of the shaft 6, and the optical axis ofthe prism 9 is parallel to the center line of the shaft 6.

The control box 31, the camera holder 32, the camera 7, the prism 9,etc. fulfill functions as a balance weight. Under the condition whereexternal force is not applied on the shaft 6, i.e. under a freecondition, a weight balance of the control box 31, the camera holder 32,the camera 7 and the prism 9 is set so that the shaft 6 is maintained invertical condition.

In a case where the shaft 6 is enabled to sufficiently maintain in avertical position by the balance weight function of the control box 31,the camera holder 32, the camera 7, the prism 9, etc., a balanceassisting member may not be provided. However, the balance assistingmember may be provided in order to maintain the shaft 6 in verticalcondition and may be provided so that the shaft 6 can be promptlyrestored to a vertical condition in a case where the shaft 6 is suddenlytilted (in a case where the posture of the flying vehicle 15 rapidlychanges).

In the example as given below, description will be given on a case wherea damper spring 16 is provided as the balance assisting member.

Between the propeller frame 17 and the shaft 6, the damper spring 16 isstretched over. At least three damper springs 16, or more preferably,four damper springs 16 are provided, and it is preferable that thedamper spring 16 are mounted between each of the propeller frames 17extending in parallel to the swing shafts 27 a and 27 b and the shaft 6.

Further, each of the four damper springs 16 applies tensile forcebetween the shaft 6 and the propeller frame 17 respectively so that theshaft 6 can maintain the vertical condition by the balancing of thetensile forces when the flying vehicle 15 takes horizontal posture (i.e.a condition where the propeller frames 17 are in horizontal condition).Further, the tensile force and a spring constant of the damper spring 16is set to a smaller value so that the shaft 6 is directed in verticaldirection due to the gravitational force when the flying vehicle 15 istilted.

The damper spring 16 is a biasing means to apply biasing force on theshaft 6 to be maintained in vertical condition. In a case where theshaft 6 is moved or vibrated, the damper spring 16 promptly restores theshaft 6 to a vertical condition and makes the vibration attenuated.Further, as the biasing means, a torsion coil spring for rotating in areturning direction may be used to rotate the swing shafts 27 a and 27 bwhen the swing shafts 27 a and 27 b of the gimbal 25 are rotated inaddition to the damper spring 16 as described above.

Referring to FIG. 4, description will be given below on control systemof the flying vehicle system 2.

The control unit 35 is accommodated inside the control box 31.

The control unit 35 primarily comprises a control processing unit 36, aclock signal generating unit 37, a storage unit 38, an image pickupcontrol unit 39, a flight control unit 41, a gyro unit 42, a motordriver unit 43, and the flying vehicle communication unit 11.

Photographing by the camera 7 is controlled by the image pickup controlunit 39, and the image taken by the camera 7 is inputted to the imagepickup control unit 39 as image data.

A digital camera is used as the camera 7, and still images can be taken,and video images can also be taken. Further, as an image pickup element,a CCD, a CMOS sensor, etc., each being an aggregate of pixels, is used,and it is so arranged that a position of each of the pixels in the imagepickup element is able to be specified. For instance, the position ofeach pixel is able to be specified by orthogonal coordinates, which havethe point where the optical axis of the camera of the image pickupelement passes through as an origin point. The still images are used inphotogrammetry and a video tracking is carried out by using the videoimages.

As described above, the optical axis of the camera 7 coincides with thecenter line of the shaft 6, and the optical axis of the prism 9 runs inparallel to the center line of the shaft 6. Further, the optical axis ofthe prism 9 is in a positional relation already known with the opticalaxis of the camera 7.

In the storage unit 38, a program storage area and a data storage areaare formed. In the program storage area, the following programs arestored: a photographing program for controlling photographing operationof the camera 7, a flight control program for driving and controllingthe propeller motor 18, a communication program for transmitting theacquired data to the ground base station 4 and for receiving a flightcommand and the like from the remote controller 5, a data processingprogram for processing and storing the data obtained by the camera 7, animage tracking program for performing the tracking by using videoimages, and other programs.

In the data storage area, various types of data are stored. These datainclude: a flight plan data for executing autonomous flight, a stillimage data and a video image data acquired by the camera 7, a positionaldata of the flying vehicle system 2 as measured during flight, apositional data of the flying vehicle system 2 as measured by theposition measuring device 3 and as transmitted from the remotecontroller 5, and further, a time and a positional data of when thestill image data and the video image data are acquired, and the like.

Based on the control signals issued from the control processing unit 36,the image pickup control unit 39 carries out controlling with respect tothe photographing operation of the camera 7. The modes of the controlinclude: selecting of the camera angle depending on the object to bemeasured, controlling of the image pickup by the camera 7, andcontrolling to acquire still images at a predetermined time intervalwhile acquiring video images, and the like. For the camera 7, an imagepickup moment is controlled or synchronously controlled according toclock signals issued from the clock signal generating unit 37.

The direction angle sensor 10 detects the direction of the flyingvehicle 15 and inputs a detection result to the control processing unit36. The gyro unit 42 detects a posture of the flying vehicle 15 underflight condition and inputs a detection result to the control processingunit 36.

When the flight of the flying vehicle 15 is remotely controlled by theremote controller 5, the flying vehicle communication unit 11 receives amaneuvering signal from the remote controller 5 and inputs themaneuvering signal to the control processing unit 36. Or, the flyingvehicle communication unit 11 has a function such as transmitting theimage data photographed by the camera 7 to the ground base station 4 onthe ground side together with the photographing time.

The control processing unit 36 converts position coordinates (TScoordinates) as measured by the position measuring device 3 to GPScoordinates, acquires GPS coordinates of the flying vehicle system 2,and acquires GPS coordinates of the flying vehicle system 2 as measuredby the GPS device 8. The control processing unit 36 calculates a flightcontrol signal based on GPS coordinates as acquired and a flight commandas transmitted from the remote controller 5 or calculates a flightcontrol signal based on a flight plan data stored in the storage unit 38and on the GPS coordinates and outputs the flight control signal to theflight control unit 41.

With regard to using which of GPS coordinates obtained based on theresult of measurement by the position measuring device 3 or GPScoordinates measured by the GPS device 8, GPS coordinates as enabled toobtain is used as a rule. For instance, in a case where an obstacleexists between the flying vehicle system 2 and the position measuringdevice 3 and the flying vehicle system 2 cannot be tracked by theposition measuring device 3, the positional coordinates measured by theGPS device 8 is used because the positional data from the positionmeasuring device 3 are lost. Further, under a condition such that radiowaves from artificial satellite are interrupted by a building or thelike, the GPS coordinates as obtained based on the measurement result ofthe position measuring device 3 are used. It is to be noted thatabsolute coordinates obtained from GPS coordinates may be used aspositional information to make the flying vehicle system 2 fly.

In a case where both the measurement results from the position measuringdevice 3 and the measurement results by the GPS device 8 are obtained,priority to be used may be determined in advance. It is to be noted thatsince a measurement accuracy of the position measurement device 3 ishigher, in a case where the priority is put on the accuracy, it ispreferable to put priority on the measurement result by the positionmeasurement device 3.

Further, the control processing unit 36 executes the control asnecessary for image acquisition based on the program as required, whichis stored in the storage unit 38.

When flight control signal is inputted from the control processing unit36, the flight control unit 41 drives the propeller motor 18 to acondition as required via the motor driver unit 43 according to theflight control signal.

Now, referring to FIG. 5, description will be given on the positionmeasuring device 3.

The position measuring device 3 primarily comprises a positionmeasurement control device 45, a telescope unit 46 (see FIG. 1), adistance measuring unit 47, a horizontal angle measuring unit 48, avertical angle measuring unit 49, a vertical rotation driving unit 51, ahorizontal rotation driving unit 52, etc.

The telescope unit 46 is used to collimate an object to be measured, thedistance measuring unit 47 emits a distance measuring light via thetelescope unit 46, further, receives a reflection light from the objectto be measured via the telescope unit 46, and measures distance.Further, the distance measuring unit 47 has three modes as a measurementmode, i.e. a non-prism measurement mode, a prism measurement mode and atracking measurement mode which tracks the object to be measured (prism)while carrying out prism measurement. It is possible to measure thedistance to the object to be measured by one of these three modes. Inthe tracking measurement mode, a tracking light is projected via thetelescope unit 46 in addition to the distance measuring light.

The horizontal angle measuring unit 48 detects a horizontal angle in thesighting direction of the telescope unit 46. Further, the vertical anglemeasuring unit 49 detects a vertical angle in the sighting direction ofthe telescope unit 46. The detection results of the horizontal anglemeasuring unit 48 and the vertical angle measuring unit 49 are inputtedto the position measurement control unit 45.

The position measurement control unit 45 primarily comprises a controlprocessing unit 55, a distance measurement control unit 56, a positionmeasurement storage unit 57, a position measurement communication unit58, a motor driving control unit 59, etc.

The following programs and the like are stored in the positionmeasurement storage unit 57: a measurement program for performingdistance measurement by each modes of the non-prism measurement mode,the prism measurement mode and the tracking measurement mode, acommunication program for performing communication to and from theflying vehicle system 2 and the ground base station 4, and otherprograms. The measurement results of the object to be measured (distancemeasurement, angle measurement) are stored.

Based on the measurement mode selecting command from the controlprocessing unit 55, the distance measurement control unit 56 determinesas to which of the modes, the non-prism measurement mode, the prismmeasurement mode and the tracking measurement mode, should be adoptedfor the execution of the measurement, and controls the distancemeasurement control unit 56 according to the mode as determined. Here,in the non-prism measurement mode, the position measuring device 3executes measurement on structures such as a building as the object tobe measured. In the tracking measurement mode, the object to be measuredbecomes the prism 9 and the position measuring device 3 executesmeasurement on the position of the flying vehicle system 2 whiletracking the flying vehicle system 2.

The motor driving control unit 59 controls the vertical rotation drivingunit 51 and the horizontal rotation driving unit 52 and rotates thetelescope unit 46 in vertical direction or in horizontal direction inorder to sight the object to be measured by the telescope unit 46, or inorder to track the object to be measured.

The position measurement communication unit 58 transmits the results(slope distance, vertical angle and horizontal angle of the prism 9),which is measured about the object to be measured (the prism 9) bytracking measurement mode, in real time, to the ground base station 4.

FIG. 6 shows an approximate arrangement of the ground base station 4 andthe relation of the flying vehicle system 2, the position measuringdevice 3, the ground base station 4, and the remote controller 5.

The ground base station 4 has a control processing unit 61 having acalculating function, a base storage unit 62, and further, a basecommunication unit 63.

The control processing unit 61 has the clock signal generating unit,associates an image data, a shutter time data and a coordinate data, asreceived via the remote controller 5, with a clock signal respectively,processes as time series data based on the clock signal, and stores inthe base storage unit 62.

In the base storage unit 62, various programs are stored. These programsinclude: a flight plan preparing program for preparing a flight plansuch as the setting up of a flight area based on map informationobtained via the Internet or the like, a flight area calculating programfor calculating the flight safety range of the flight vehicle system 2according to the flight plan and a preliminary measurement data obtainedby the position measuring unit 3, a flight control program for preparingflight control data based on the flight safety range and for controllingthe flight of the flying vehicle system 2, a calculation programnecessary for photogrammetry, a communication program for performingdata communication to and from the remote controller 5 and the positionmeasuring device 3, a program for calculating GPS coordinates of theinstallation position of the position measuring unit 3 based on GPScoordinates of the flying vehicle system 2 at two or more positions astransmitted from the flying vehicle system 2, a program for convertingthe measurement results (slope distance, vertical angle and horizontalangle) of the position measuring device 3 to GPS coordinates based onGPS coordinates of the installation position of the position measuringdevice 3, and other programs.

It is to be noted that as for the operation of converting measurementresults of the position measuring device 3 to GPS coordinates based onGPS coordinates of the installation position of the position measuringdevice 3, it may be so arranged that the measurement results of theposition measuring device 3 are transmitted to the flying vehicle system2 without converting and the processing may be carried out by thecontrol unit 35 of the flying vehicle system 2.

Further, various types of data such as the images acquired by the flyingvehicle system 2, the measurement data as measured by the positionmeasuring device 3 (coordinate data), the time when the image isacquired, positional coordinates, etc. are stored in the base storageunit 62.

The base communication unit 63 performs wired communication or wirelesscommunication between the ground base station 4 and the remotecontroller 5.

A description will be given below on an operation of the presentmeasuring system.

First, referring to FIG. 7, a description will be given on an operationfor acquiring positions (GPS coordinates or absolute coordinates) of theposition measuring device 3 as set up at an arbitrary position.

The flying vehicle system 2 is operated by manual operation for flightby the remote controller 5. In a case where the flight plan is set up inadvance, the flying vehicle system 2 may be operated for flight byautomatic operation based on the flight plan. At the same time as thestarting of the flight of the flying vehicle system 2, tracking by theposition measuring device 3 is carried out.

(Step 01) A position as required during the flight of the flying vehiclesystem 2 is set as a point P1 and GPS coordinate A1 of the point P1 isacquired by the GPS device 8. The GPS coordinate A1 thus acquired istransmitted to the ground base station 4 via the remote controller 5.

(Step 02) A position (i.e. reference position of the flying vehiclesystem 2 is to be regarded as the position of the flying vehicle system2) of the prism 9, when the flying vehicle system 2 is at a position ofthe point P1, is measured by the position measuring device 3, and a TScoordinate B1 of the point P1 is acquired by the position measuringdevice 3. It is to be noted that a coordinate acquiring timing issynchronously controlled by the ground base station 4 so that theacquisition of coordinates by the GPS device 8 and the acquisition ofcoordinates by the position measuring device 3 become the same time.

The TS coordinates B1 as acquired by the position measuring device 3 aretransmitted to the ground base station 4. The GPS coordinates A1 asacquired by the GPS device and the TS coordinates B1 as acquired by theposition measuring device 3 are associated with the time as acquiredrespectively and are stored at the base storage unit 62.

(Step 03) The flying vehicle system 2 is moved to a point P2 at anotherposition as required. Here, the moving distance is calculated based onthe coordinates of the point P1 and the point P2, and the length of themoving distance is determined by taking the flying height of the flyingvehicle system 2 and the accuracy needed for the measurement intoconsideration.

(Step 04) GPS coordinates A2 of the point P2 are acquired by the GPSdevice 8. The GPS coordinates A2 thus acquired are transmitted to theground base station 4 via the remote controller 5.

(Step 05) The position measuring device 3 measures a position of theflying vehicle system 2 when the flying vehicle system 2 is positionedat the point P2 and obtained TS coordinates B2 of the point P2. It isneedless to say that synchronous control is performed for theacquisition of the GPS coordinates A2 and the acquisition of the TScoordinates B2.

(Step 06) A position of the point P1 relative to the installationposition of the position measuring device 3 and a position of the pointP2 relative to the installation position of the position measuringdevice 3 are measured as the TS coordinates B1 and TS coordinates B2,and since GPS coordinates of the point P1 and the point P2 are measuredas the GPS coordinates A1 and the GPS coordinates A2, the GPS coordinateof the installation position of the position measuring device 3 iscalculated by the method of resection.

Because the GPS coordinate of the installation position of the positionmeasuring device 3 is obtained, it is possible to convert TS coordinatesof the flying vehicle system 2 measured by the position measuring device3 to GPS coordinates. Therefore, similarly to the positional informationas obtained by the GPS device 8, it is possible to control the flight ofthe flying vehicle system 2 based on the positional information of theflying vehicle system 2 measured by the position measuring device 3.

As described above, a positional information of the flying vehiclesystem 2 can be obtained by the GPS device 8 or by the positionmeasuring device 3.

Referring to FIG. 4 and FIG. 8, a description will be given on a guidingoperation of the flying vehicle system 2.

As described above, since the installation position (GPS coordinates) ofthe position measuring device 3 as arbitrarily set up is obtained, it ispossible to carry out remote control of the flying vehicle system 2based on position measurement of the flying vehicle system 2 by theposition measuring device 3.

In a case where the measurement is performed by the flying vehiclesystem 2, it is possible to operate the flying vehicle system 2 byremote control based on visual inspection, and photographing can beperformed adequately by the judgment of an operator of measurement.

Further, a flight plan or a measurement plan may be set up at the flyingvehicle system 2 and the ground base station 4 in advance and ameasurement may be carried out based on the flight plan or themeasurement plan.

The description as given below is the case where a flight plan is set upand the case where the flight plan is set up on the flying vehiclesystem 2.

(Step 21) The control processing unit 36 reads a target positioncoordinate (target position) from the flight plan as stored in thestorage unit 38 and an information of the present position of the flyingvehicle system 2 is acquired.

(Step 22) Judgment is made by the control processing unit 36 as towhether the positional information acquired is GPS coordinates or TScoordinates. In a case where both the GPS coordinates and the TScoordinates can be acquired, an order of priority should be set up inadvance. For instance, it is set that priority is given on positionalinformation from the GPS device 8.

(Step 23) In a case where there is no positional information from theGPS device 8 and a positional information from the position measuringdevice 3 can be acquired, the control processing unit 36 converts TScoordinates to GPS coordinates. In a case where a positional informationfrom the GPS device 8 can be acquired, the GPS coordinates are obtaineddirectly as the present positional information.

(Step 24) The control processing unit 36 compares the target positionwith the present position, obtains a deviation and issues a controlsignal to the flight control unit 41 so that the deviation will be 0.The flight control unit 41 controls the driving of the propeller motor18 via the motor driver unit 43 based on the control signal.

(Step 25) In a case where the target position and the present positioncoincide with each other, i.e. a case where the deviation is 0 or in anadmissible range, the operation as required such as photographing by thecamera 7, and the like, is carried out. When the operation as requiredis completed, the next target position is read by the control processingunit 36, and the procedure of Step 21 to Step 25 is repeated.

Further, in a case where it is judged by the control processing unit 36that the target position and the present position do not coincide witheach other in Step 25, the procedure of Step 22 to Step 25 is furtherrepeated.

Referring to FIG. 9, a description will be given on the measurementusing the guiding operation as given above. In the figure, a space abovethe line shown as L1 is a space where the GPS device 8 is capable ofreceiving radio waves of artificial satellite (a space 72 where the GPSdevice 8 is capable of acquiring a positional information), and a spacebelow the line L1 shows a space 73 where the GPS device 8 is not capableof acquiring a positional information. Further, FIG. 9 shows a casewhere photogrammetry is primarily executed. In a case where thephotogrammetry is executed, a direction of the camera 7 becomesnecessary, so a signal obtained by the direction angle sensor 10 isused.

Further, in a case where the flying vehicle system 2 is operated to flynear an object to be measured (a building) or to fly in a space where anobstacle exists, a signal obtained by an obstacle detecting sensor 69 isused for keeping the safety of the flight. The obstacle detecting sensor69 is an ultrasonic wave sensor, for instance, and detects a distancebetween the flying vehicle system 2 and an object to be measured or anobstacle. The control processing unit 36 controls the flight so that thedistance from the obstacle does not become shorter than thepredetermined distance based on the distance as detected.

In FIG. 9, points P1 to P6 show target positions as set up in the flightplan and points P1 to P4 are the points where the flying vehicle system2 flies in the space 72 and where the GPS device 8 is capable of using.Further, points P5 and P6 are the points where the flying vehicle system2 flies in the space 73 and where the GPS device 8 is not capable ofusing.

Further, FIG. 9 shows a condition where the position measuring device 3is installed at an installation position S1 at first, and then,installed at an installation position S2. With respect to both theinstallation position S1 and the installation position S2, theprocedures of Step 01 to Step 06 are executed as described above and GPScoordinates are obtained.

While the flying vehicle system 2 is flying in the space 72, positioncoordinates (GPS coordinates) can be obtained by the GPS device 8, andthe flight of the flying vehicle system 2 is controlled based on thepositional information obtained from the GPS device 8. The flyingvehicle system 2 is guided to the points P1 to P4, photographs are takenat the points P1 to P4 respectively, and photogrammetry is carried outbased on the acquired photographs and the positional information ofpoints P1 to P4.

It is to be noted that in a case where positional information measuredby the position measuring device 3 is acquired, the positionalinformation measured by the position measuring device 3 is higher inaccuracy, so by controlling the flight of the flying vehicle system 2based on the positional information obtained by the position measuringdevice 3, the measurement accuracy improves.

In a case where the flying vehicle system 2 flies in the space 73, it isa condition where the GPS device 8 cannot be used. For instance, a casewhere a photographing is carried out along a side wall of a building andradio waves from an artificial satellite are interrupted by thebuilding.

In a case where the flying vehicle system 2 flies in the space 73, theflight of the flying vehicle system 2 is controlled based on thepositional information measured by the position measuring device 3.Further, position coordinates of points P5 and P6 are measured by theflying vehicle system 2.

Further, there may be a case where a dead angle occurs under thecondition where the position measuring device 3 is installed at onepoint, and it is not possible to measure the range of the dead angle bythe position measuring device 3. In the present embodiment, the positionmeasuring device 3 is capable of moving to an arbitrary positiondepending on the measurement condition. As described above, since it ispossible to easily measure GPS coordinates of the installation positionS2 after the moving, both the measurement data obtained at theinstallation position S1 and the measurement data obtained at theinstallation position S2 is capable of being converted as a GPScoordinate system, and further, as an absolute coordinate system, and itis possible to easily carry out the association of mutual data.

According to the measuring system in the present embodiment, it ispossible to carry out measurements in various measurement modes.

[Measurement Mode 1]

In a case where photogrammetry is primarily carried out, the positionmeasuring device 3 measures a position of the flying vehicle system 2and fulfills the function as a positional information acquiring means inorder to control the flight of the flying vehicle system 2.

In the measurement mode 1, in a case where the positional informationcan be acquired from the GPS device 8 and the position measuring device3, positional information is acquired according to the order of priorityas set up, and photographs for measurement are acquired at the positionas set up in the flight plan.

Here, as a case where the position measuring device 3 is not capable ofacquiring a positional information, for instance: a case wheremeasurement is carried out on a roof of a building, or the like, i.e. acase where the flying vehicle system 2 is in the dead angle of theposition measuring device 3. Further, as a case where the GPS device 8is not capable of acquiring a positional information is a case wheremeasurement is made on a wall surface of a building or under a bridge,or the like, i.e. a place, etc. where radio waves from the artificialsatellite does not reach. It is to be noted that in a case wherephotographing is carried out on a wall surface of a building, or thelike, it is needless to say that the camera 7 is rotated and controlledso that the optical axis is maintained in horizontal direction, or thelike.

Further, auxiliarily, in a case where the measurement is carried out ata place where the flying vehicle system 2 is not capable of flying, at aplace where the space is narrow or there is a roof or the like, anobject to be measured is directly measured by the position measuringdevice 3.

[Measurement Mode 2]

In a case where the measurement by the position measuring device 3 isprimarily carried out, the flying vehicle system 2 is used as the meansto measure GPS coordinates or absolute coordinates of the installationposition of the position measuring device 3.

As described above, the position measuring device 3 is installed at anarbitrary position, the flying vehicle system 2 is made to fly, GPScoordinates at two points are obtained by the GPS device 8, and further,by measuring the flying vehicle system 2 at the two points by theposition measuring device 3, it becomes possible to obtain GPScoordinates and absolute coordinates of the installation position of theposition measuring device 3.

Therefore, by measuring the object to be measured by the positionmeasuring device 3, it becomes possible to obtain GPS coordinates orabsolute coordinates of the object to be measured. Further, theinstallation position of the position measuring device 3 can be changedas necessary wherever the object to be measured can be sighted. As aresult, it becomes possible to obtain measurement results, which cannotbe obtained when the position measuring device 3 is installed at onepoint such as on a rear side of a building, or the like.

Further, even in a case where the installation position of the positionmeasuring device 3 is changed, GPS coordinates or absolute coordinatesis capable of being measured. As a result, an association of allmeasurement data is capable of being easily carried out.

[Measurement Mode 3]

In a case where importance is placed upon the measurement accuracy, themeasurement of the object to be measured is carried out by the positionmeasuring device 3 after GPS coordinates of the installation position ofthe position measuring device 3 are obtained, and under a conditionwhere an obstacle exists at a place or at a site where measurementcannot be carried out by the position measuring device 3, e.g. on a roofof a building, or when an obstacle exists between the object to bemeasured, a photogrammetry is carried out by the flying vehicle system2. In this case, positional information to control the flight of theflying vehicle system 2 is acquired by the position measuring device 3.

[Measurement Mode 4]

In a case where the measurement is carried out over a wide range or at acomplicated place by using a plurality of position measuring devices 3,or in a case where the measurement is carried out on an object to bemeasured (a building) with complicated shape, a plurality of positionmeasuring devices 3 are installed at places which are most suitable forthe measurement, measurement is carried out from each of theinstallation positions respectively, and GPS coordinates of theinstallation position of the position measuring device 3 are measured bythe GPS device 8 of the flying vehicle system 2.

According to the present embodiment, since it is possible to obtain GPScoordinates at arbitrary positions by using the GPS device of the flyingvehicle system 2, it becomes possible to easily perform measurement at aplace where absolute coordinates or GPS coordinates of the installationposition of the position measuring device 3 cannot be obtained or aredifficult to obtain. Further, since the measurement result of theposition measuring device 3 is enabled to convert to GPS coordinates,the position measuring devices 3 is capable of being installed at aplurality of places and the results of measurement can be easilyintegrated, and the measurement results obtained by photogrammetry canbe easily integrated with the measurement results obtained by theposition measuring device 3.

In the embodiment as described above, a photogrammetry is performed asmeasurement by the flying vehicle system 2, while other measuringdevices may be mounted on board of the flying vehicle system 2. Forinstance, a laser scanner may be mounted as a shape measuring device soas to obtain a point group data of the object to be measured, or aspectral camera may be mounted for the purpose of investigatinggeological features or growing condition of agricultural products.

1. A measuring system, comprising a remotely controllable flying vehiclesystem with a GPS device and a measuring device installed thereon, aposition measuring device installed at an arbitrary position and formeasuring distance and angle and for tracking, a ground base station forcontrolling a flight of said flying vehicle system, a remote controllerable to give and take data to and from said ground base station and ableto perform wireless communication to and from said flying vehiclesystem, and control units provided on said flying vehicle system andsaid ground base station, wherein said flying vehicle system has aretro-reflector as an object to be measured and said position measuringdevice is constructed so as to track said retro-reflector and performdistance measurement and angle measurement, wherein said flying vehiclesystem obtains GPS coordinates by said GPS device, said positionmeasuring device measures positions of said flying vehicle system froman installation point, wherein either one of said control units selectseither a distance measurement result or an angle measurement result ofsaid GPS coordinates and said position measuring device based onpriority determined in advance and controls the flight of said flyingvehicle system based on the selected result.
 2. The measuring systemaccording to claim 1, wherein the priority determined in advance is inan order of measurement accuracy.
 3. The measuring system according toclaim 1, wherein said measuring device is a camera, and said controlunit performs photogrammetry on an object to be measured based on animage of the object to be measured acquired by said camera at least attwo points during flight, and based on absolute coordinates or GPScoordinates of said two points obtained by converting measurementresults of said position measuring device.
 4. The measuring systemaccording to claim 1, wherein said measuring device is a shape measuringdevice for measuring a shape of an object to be measured, and saidcontrol unit obtains coordinates of the shape of said object to bemeasured based on a shape of an object to be measured obtained by saidshape measuring device at a measuring position and based on absolutecoordinates of said measuring position obtained by convertingmeasurement results of said position measuring device or on GPScoordinates obtained by said GPS device.
 5. The measuring systemaccording to claim 1, wherein said measuring device of said flyingvehicle system determines a dead angle range of said position measuringdevice, said position measuring device measures a range where it isimpossible to fly of said flying vehicle system or a range where it isimpossible to perform positional measurement by said GPS device, saidcontrol unit converts the measurement results of said position measuringdevice to GPS coordinates or absolute coordinates and integrates theresults measured by said measuring device of said flying vehicle systemand the result of measurement by said position measuring device.